Omron SCON-CA, SCON-CAL Connection Manual
Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
IAI Corporation
SCON-CA/SCON-CAL Controller
P585-E1-02
About Intellectual Property Rights and Trademarks
EtherCAT(R) is registered trademark and patented technology, licensed by Beckhoff Automation
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Windows is a registered trademark of Microsoft Corporation in the USA and other countries.
GmbH, Germany.
Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
Company names and product names in this document are the trademarks or registered
trademarks of their respective companies.
T a ble of Co ntent s
1. Related Manuals .......................................................................................... 1
2. T erms and Definitions ................................................................................. 2
3. Precautions .................................................................................................. 3
4. Overview ...................................................................................................... 4
5. Applicable Devices and Dev ice Configuration ........................................ 5
5.1. Applicable Devices .................................................................................. 5
5.2. Device Configuration ............................................................................... 6
6. EtherCAT Settings ....................................................................................... 8
6.1. Parameter Settings ................................................................................. 8
6.2. Device Variables ...................................................................................... 9
7. EtherCAT Connection Procedure ............................................................. 11
7.1. Work Flow .............................................................................................. 11
7.2. Setting up the IAI SCON-CA Controller ................................................ 12
7.3. Setting up the Controller ....................................................................... 19
7.4. Checking the EtherCAT Communications............................................. 30
8. Initialization Method .................................................................................. 35
8.1. Initializing the Controller ........................................................................ 35
8.2. Initializing the IAI SCON-CA Controller ................................................. 35
9. Revision History ........................................................................................ 36
1．Related Manuals
1
1. Related Manuals
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions and Precautions for Safe Use of manuals for each device which is used in
the system.
The table below lists the manuals of IAI Corporation (hereinafter referred to as IAI) and
OMRON Corporation (hereinafter referred to as OMRON) related to this document.
Manufacturer Cat. No. Model Manual name
OMRON W500 NJ501-[][][][]
NJ301-[][][][]
OMRON W501 NJ501-[][][][]
NJ301-[][][][]
OMRON W505 NJ501-[][][][]
NJ301-[][][][]
OMRON W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
IAI ME0243 SCON-CA
SCON-CAL
IAI ME0273 SCON-CA
SCON-CAL
IAI ME0155 RCM-101-MW
RCM-101-USB
NJ-series CPU Unit Hardware User's Manual
NJ-series CPU Unit Software User's Manual
NJ-series CPU Unit Built-in EtherCAT(R) Port
User's Manual
SCON-CA/CAL/CGAL Controller Instruction
Manual
EtherCAT Operation Manual
PC Software RCM-101-MW, RCM-101-USB
Operation Manual
2．Terms and Definitions
2
With Axis Variables for Servo Drive and encoder input slave to
The ESI files contain information unique to the EtherCAT slaves
2. Terms and Definitions
Ter m Explanation and Definition
PDO Communications
(Communications using
Process Data Objects)
SDO Communications
(Communications using
Service Data Objects)
Slave unit There are various types of slaves such as Servo Drives that
Node address A node address is an address to identify a unit connected to
ESI file
(EtherCAT Slave Information
file)
This method is used for cyclic data exchange between the
master unit and the slave units.
PDO data (i.e., I/O data that is mapped to PDOs) that is
allocated in advance is refreshed periodically each EtherCAT
process data communications cycle (i.e., the period of primary
periodic task).
The NJ-series Machine Automation Controller uses the PDO
Communications for commands to refresh I/O data in a fixed
control period, including I/O data for EtherCAT Slave Units, and
the position control data for the Servomotors.
It is accessed from the NJ-series Machine Automation
Controller in the following ways.
・With device variables for EtherCAT slave I/O
・
which assigned as an axis
This method is used to read and write the specified slave unit
data from the master unit when required.
The NJ-series Machine Automation Controller uses SDO
Communications for commands to read and write data, such as
for parameter transfers, at specified times.
The NJ-series Machine Automation Controller can read/write
the specified slave data (parameters and error information, etc.)
with the EC_CoESDORead (Read CoE SDO) instruction or the
EC_CoESDOWrite (Write CoE SDO) instruction.
handle position data and I/O terminals that handle the bit
signals. The slave unit receives output data sent from the
master, and sends input data to the master.
EtherCAT.
in XML format.
Installing an ESI file enables the Sysmac Studio to allocate
slave process data and make other settings.
3．Precautions
3
Indicates a potentially hazardous situation which, if not avoided,
damage.
Precautions for Correct Use
Additional Inf or mation
Symbol
3. Precautions
(1) Understand the specifications of devices which are used in the system. Allow some
margin for ratings and performance. Provide safety measures, such as installing safety
circuit in order to ensure safety and minimize risks of abnormal occurrence.
(2) To ensure system safety, make sure to always read and heed the information provided in
all Safety Precautions and Precautions for Safe Use of manuals for each device which is
used in the system.
(3) The user is encouraged to confirm the standards and regulations that the system must
conform to.
(4) It is prohibited to copy, to reproduce, and to distribute a part or the whole of this
document without the permission of OMRON Corporation.
(5) The information contained in this document is current as of January 2015. It is subject to
change without notice for improvement.
The following notation is used in this document.
will result in minor or moderate injury, or may result in serious
injury or death. Additionally there may be significant property
Indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate injury or property damage.
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that must do.
4．Overview
4
4. Overview
This document describes the procedure for connecting SCON-CA/SCON-CAL Controller of
IAI to NJ-series Machine Automation Controller (hereinafter referred to as the Controller) of
OMRON via EtherCAT and provides the procedure for checking their connection.
Refer to Section 6. Ether C AT Settings and Section 7. Et herCAT Connection Proced ur e to
understand the setting method and key points to operate PDO Communications of EtherCAT.
5．Applicable Devices and Device Configuration
5
Precautions for Correct Use
Additional Inf or mation
Additional Inf or mation
Contact IAI Corporation for actuators connectable to SCON-CA/SCON-CAL Controllers.
5. Applicable De vices and Device Co nfiguration
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer Name Model
OMRON NJ-series CPU Unit NJ501-[][][][]
NJ301-[][][][]
IAI SCON-CA Controller
SCON-CAL Controller
IAI Actuator -
As applicable devices above, the devices with the models and versions listed in Section 5. 2.
are actually used in this document to describe the procedure for connecting devices and
checking the connection.
You cannot use devices with versions lower than the versions listed in Section 5.2.
To use the above devices with models not listed in S ection 5.2. or versions higher than those
listed in Section 5. 2., check the differences in the specifications by referring to the manuals
before operating the devices.
SCON-CA-[]-EC-[]
SCON-CAL-[]-EC-[]
This document describes the procedure to establish the network connection. It does not
provide information on operation, installation or wiring method which is not related to the
connection procedure. It also does not describe the functionality or operation of the devices.
Refer to the manuals or contact the device manufacturer.
(IAI Corporation http://www.intelligentactuator.com/)
This URL is the latest address at the time of this document creation. Contact each device
manufacturer for the latest information.
5．Applicable Devices and Device Configuration
6
Manufacturer
Name
Model
Version
OMRON
CPU Unit
(Built-in EtherCAT port)
NJ501-1500
Ver.1.09
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.10
-
Personal computer
(OS: Windows 7)
-
-
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
IAI
SCON-CA Controller
SCON-CA-60I-EC-0-1
Rev.0x0001
0007
IAI
USB cable
CB-SEL-USB010
IAI
USB conversion unit
RCB-CV-USB
IAI
Communication cable
CB-RCA-SIO050
IAI
Actuator
RCS2-GD5N-I-60-10-50-T2-P
IAI
Motor cable
CB-RCC-MA010
IAI
Encoder cable
CB-RCS2-PA010
IAI
PC Interface Software for RC
RCM-101-MW
RCM-101-USB
Ver.9 .07.00.
00-E
IAI
ESI file
ESI_IAI_CON_ECT_V_1_07_
Rev_0.xml
Precautions for Correct Use
NJ501-1500
SCON-CA-60I-EC-0-1
RCS2-GD5N-I-60-10-50-T2-P
Personal computer
Motor cable
USB cable + USB conversion unit + Communication cable
Encoder cable
5.2. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows:
(Sysmac Studio, PC
Interface Software for RC
installed, OS: Windows 7)
USB cable
(Built-in EtherCAT port)
Ethernet cable
Prepare the ESI file shown in this section beforehand.
The latest ESI file can be downloaded from the IAI website.
IAI Corporation http://www.intelligentactuator.com/field-network-configuration-files/
Contact IAI if the file is not available.
5．Applicable Devices and Device Configuration
7
Precautions for Correct Use
Precautions for Correct Use
Additional Inf or mation
Additional Inf or mation
Additional Inf or mation
The connection line of EtherCAT communications cannot be shared with other Ethernet
networks.
Do not use devices for Ethernet such as a switching hub.
Use the Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or
higher, and use the shielded connector of Category 5 or higher.
Connect the cable shield to the connector hood at both ends of the cable.
Update the Sysmac Studio to the version specified in this section or higher version using the
auto update function.
If a version not specified in this section is used, the procedures described in Section 7. and
subsequent sections may not be applicable. In that case, referring to the Sysmac Studio
Version 1 Oper ation Manual (Cat. No. W504), use the equivalent procedures described in
this document.
For specifications of the Ethernet cables and network wirings, refer to Section 4. EtherCAT
Network Wir in g of the NJ-series CPU Unit Built-in EtherCAT(R) Port User's Manual (Cat. No.
W505).
The system configuration in this document uses USB for the connection to the Controller.
For how to install a USB driver, refer to A-1. Driver Installation for Direct U SB Cable
Connection of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
The system configuration in this document uses USB for the connection to the SCON-CA
Controller. For how to install a USB driver, refer to Section 1.3.3. How to I nst all the USB
Conversion Adapter Driver Software of the PC Software RCM-101-MW, RCM-101-USB
Operation Manual (ME0155).
6．EtherCAT S ettings
8
Name
Setting item
Set value
Remarks
SCON-CA
switch 1
fieldbus specification
6. EtherCAT S ettings
This section describes the specifications such as parameters and device variables that are set
in this document.
Hereinafter, the SCON-CA Controller is referred to as the "Destination Device" or the "Slave
Unit" in some descriptions.
6.1. Parameter Settings
The parameters required for connecting the Controller and the SCON-CA Controller via
EtherCAT are given below.
Controller
Axis number 0 -
Operation mode changeover
Fieldbus operation mode 2 Half direct value mode
Fieldbus node address 1 -
Fieldbus communication speed 0 -
Network type 6 -
Fieldbus input/output format 3 Default setting
OFF Positioner mode including
6．EtherCAT S ettings
9
Device variable name
Data type
Description
E001_Out_Target_Position_2003_01
DINT
Target Position
E001_Out_Positioning_Band_2003_02
UDINT
Positioning Band
E001_Out_Velocity_2003_03
UINT
Velocity
E001_Out_Acceleration_Deceleration_2003_04
UINT
Acceleration / Deceleration
E001_Out_Pressing_Current_Limit_2003_05
UINT
Pressing Current Limit Value
E001_Out_Control_signal_2003_06
WORD
Control Signal
E001_Out_Bit00_DSTR
BOOL
Positioning Command
E001_Out_Bit01_HOME
BOOL
Home return
E001_Out_Bit02_STP
BOOL
Pause
E001_Out_Bit03_RES
BOOL
Reset
E001_Out_Bit04_SON
BOOL
Servo ON Command
E001_Out_Bit05_JISL
BOOL
Jog/inch switching
Jog-speed/inch-distance
switching
E001_Out_Bit07_JOG_0
BOOL
- Jog
E001_Out_Bit08_JOG_0
BOOL
+ Jog
E001_Out_Bit09_Reserved_0
BOOL
Unavailable
Servo gain parameter set
selection 0
Servo gain parameter set
selection 1
E001_Out_Bit12_PUSH
BOOL
Push-motion specification
E001_Out_Bit13_DIR
BOOL
Push direction specification
E001_Out_Bit14_RMOD
BOOL
Operating mode selector
E001_Out_Bit15_BKRL
BOOL
Forced brake release
6.2. Device Variables
The PDO communications data for the Destination Device are allocated to the Controller's
device variables.
The device variables and the data types are shown below.
■Output area (from Controller to Destination Device)
E001_Out_Bit06_JVEL BOOL
E001_Out_Bit10_GSL0 BOOL
E001_Out_Bit11_GSL1 BOOL
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